Public Types | Public Member Functions | Public Attributes | Private Types | Private Attributes | List of all members
gtsam::NonlinearEquality< VALUE > Class Template Reference

#include <NonlinearEquality.h>

Inheritance diagram for gtsam::NonlinearEquality< VALUE >:
Inheritance graph
[legend]

Public Types

using CompareFunction = std::function< bool(const T &, const T &)>
 Function that compares two values. More...
 
typedef VALUE T
 
- Public Types inherited from gtsam::NoiseModelFactorN< VALUE >
enum  
 N is the number of variables (N-way factor) More...
 
using ValueType = typename std::tuple_element< I - 1, std::tuple< ValueTypes... > >::type
 
- Public Types inherited from gtsam::NoiseModelFactor
typedef std::shared_ptr< Thisshared_ptr
 
- Public Types inherited from gtsam::NonlinearFactor
typedef std::shared_ptr< Thisshared_ptr
 
- Public Types inherited from gtsam::Factor
typedef KeyVector::const_iterator const_iterator
 Const iterator over keys. More...
 
typedef KeyVector::iterator iterator
 Iterator over keys. More...
 

Public Member Functions

 NonlinearEquality ()
 Default constructor - only for serialization. More...
 
 ~NonlinearEquality () override
 
- Public Member Functions inherited from gtsam::NoiseModelFactorN< VALUE >
Key key () const
 
 ~NoiseModelFactorN () override
 
 NoiseModelFactorN ()
 Default Constructor for I/O. More...
 
 NoiseModelFactorN (const SharedNoiseModel &noiseModel, KeyType< ValueTypes >... keys)
 
 NoiseModelFactorN (const SharedNoiseModel &noiseModel, CONTAINER keys)
 
Vector unwhitenedError (const Values &x, OptionalMatrixVecType H=nullptr) const override
 
virtual Vector evaluateError (const ValueTypes &... x, OptionalMatrixTypeT< ValueTypes >... H) const=0
 
Vector evaluateError (const ValueTypes &... x, MatrixTypeT< ValueTypes > &... H) const
 
Vector evaluateError (const ValueTypes &... x) const
 
AreAllMatrixRefs< Vector, OptionalJacArgs... > evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const
 
AreAllMatrixPtrs< Vector, OptionalJacArgs... > evaluateError (const ValueTypes &... x, OptionalJacArgs &&... H) const
 
Key key1 () const
 
Key key2 () const
 
Key key3 () const
 
Key key4 () const
 
Key key5 () const
 
Key key6 () const
 
- Public Member Functions inherited from gtsam::NoiseModelFactor
shared_ptr cloneWithNewNoiseModel (const SharedNoiseModel newNoise) const
 
size_t dim () const override
 
bool equals (const NonlinearFactor &f, double tol=1e-9) const override
 
double error (const Values &c) const override
 
std::shared_ptr< GaussianFactorlinearize (const Values &x) const override
 
const SharedNoiseModelnoiseModel () const
 access to the noise model More...
 
 NoiseModelFactor ()
 
template<typename CONTAINER >
 NoiseModelFactor (const SharedNoiseModel &noiseModel, const CONTAINER &keys)
 
void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 
Vector unweightedWhitenedError (const Values &c) const
 
Vector unwhitenedError (const Values &x, std::vector< Matrix > &H) const
 
double weight (const Values &c) const
 
Vector whitenedError (const Values &c) const
 
 ~NoiseModelFactor () override
 
- Public Member Functions inherited from gtsam::NonlinearFactor
 NonlinearFactor ()
 
template<typename CONTAINER >
 NonlinearFactor (const CONTAINER &keys)
 
double error (const HybridValues &c) const override
 
virtual bool active (const Values &) const
 
virtual shared_ptr rekey (const std::map< Key, Key > &rekey_mapping) const
 
virtual shared_ptr rekey (const KeyVector &new_keys) const
 
virtual bool sendable () const
 
- Public Member Functions inherited from gtsam::Factor
virtual ~Factor ()=default
 Default destructor. More...
 
bool empty () const
 Whether the factor is empty (involves zero variables). More...
 
Key front () const
 First key. More...
 
Key back () const
 Last key. More...
 
const_iterator find (Key key) const
 find More...
 
const KeyVectorkeys () const
 Access the factor's involved variable keys. More...
 
const_iterator begin () const
 
const_iterator end () const
 
size_t size () const
 
virtual void printKeys (const std::string &s="Factor", const KeyFormatter &formatter=DefaultKeyFormatter) const
 print only keys More...
 
bool equals (const This &other, double tol=1e-9) const
 check equality More...
 
KeyVectorkeys ()
 
iterator begin ()
 
iterator end ()
 

Public Attributes

CompareFunction compare_
 

Private Types

using Base = NoiseModelFactorN< VALUE >
 
using This = NonlinearEquality< VALUE >
 

Private Attributes

bool allow_error_
 
double error_gain_
 
T feasible_
 

Standard Constructors

 NonlinearEquality (Key j, const T &feasible, const CompareFunction &_compare=std::bind(traits< T >::Equals, std::placeholders::_1, std::placeholders::_2, 1e-9))
 
 NonlinearEquality (Key j, const T &feasible, double error_gain, const CompareFunction &_compare=std::bind(traits< T >::Equals, std::placeholders::_1, std::placeholders::_2, 1e-9))
 

Testable

void print (const std::string &s="", const KeyFormatter &keyFormatter=DefaultKeyFormatter) const override
 print More...
 
bool equals (const NonlinearFactor &f, double tol=1e-9) const override
 

Standard Interface

double error (const Values &c) const override
 Actual error function calculation. More...
 
Vector evaluateError (const T &xj, OptionalMatrixType H) const override
 Error function. More...
 
GaussianFactor::shared_ptr linearize (const Values &x) const override
 Linearize is over-written, because base linearization tries to whiten. More...
 
gtsam::NonlinearFactor::shared_ptr clone () const override
 

Additional Inherited Members

- Protected Types inherited from gtsam::NoiseModelFactorN< VALUE >
using Base = NoiseModelFactor
 
using KeyType = Key
 
using MatrixTypeT = Matrix
 
using OptionalMatrixTypeT = Matrix *
 
using This = NoiseModelFactorN< ValueTypes... >
 
using IsConvertible = typename std::enable_if< std::is_convertible< From, To >::value, void >::type
 
using IndexIsValid = typename std::enable_if<(I >=1) &&(I<=N), void >::type
 
using ContainerElementType = typename std::decay< decltype(*std::declval< Container >().begin())>::type
 
using IsContainerOfKeys = IsConvertible< ContainerElementType< Container >, Key >
 
using AreAllMatrixRefs = std::enable_if_t<(... &&std::is_convertible< Args, Matrix &>::value), Ret >
 
using IsMatrixPointer = std::is_same< typename std::decay_t< Arg >, Matrix *>
 
using IsNullpointer = std::is_same< typename std::decay_t< Arg >, std::nullptr_t >
 
using AreAllMatrixPtrs = std::enable_if_t<(... &&(IsMatrixPointer< Args >::value||IsNullpointer< Args >::value)), Ret >
 
- Protected Types inherited from gtsam::NoiseModelFactor
typedef NonlinearFactor Base
 
typedef NoiseModelFactor This
 
- Protected Types inherited from gtsam::NonlinearFactor
typedef Factor Base
 
typedef NonlinearFactor This
 
- Protected Member Functions inherited from gtsam::NoiseModelFactor
 NoiseModelFactor (const SharedNoiseModel &noiseModel)
 
- Protected Member Functions inherited from gtsam::Factor
 Factor ()
 
template<typename CONTAINER >
 Factor (const CONTAINER &keys)
 
template<typename ITERATOR >
 Factor (ITERATOR first, ITERATOR last)
 
- Static Protected Member Functions inherited from gtsam::Factor
template<typename CONTAINER >
static Factor FromKeys (const CONTAINER &keys)
 
template<typename ITERATOR >
static Factor FromIterators (ITERATOR first, ITERATOR last)
 
- Protected Attributes inherited from gtsam::NoiseModelFactor
SharedNoiseModel noiseModel_
 
- Protected Attributes inherited from gtsam::Factor
KeyVector keys_
 The keys involved in this factor. More...
 

Detailed Description

template<class VALUE>
class gtsam::NonlinearEquality< VALUE >

An equality factor that forces either one variable to a constant, or a set of variables to be equal to each other.

Depending on flag, throws an error at linearization if the constraints are not met.

Switchable implementation:

Definition at line 43 of file NonlinearEquality.h.

Member Typedef Documentation

◆ Base

template<class VALUE>
using gtsam::NonlinearEquality< VALUE >::Base = NoiseModelFactorN<VALUE>
private

Definition at line 66 of file NonlinearEquality.h.

◆ CompareFunction

template<class VALUE>
using gtsam::NonlinearEquality< VALUE >::CompareFunction = std::function<bool(const T&, const T&)>

Function that compares two values.

Definition at line 71 of file NonlinearEquality.h.

◆ T

template<class VALUE>
typedef VALUE gtsam::NonlinearEquality< VALUE >::T

Definition at line 46 of file NonlinearEquality.h.

◆ This

template<class VALUE>
using gtsam::NonlinearEquality< VALUE >::This = NonlinearEquality<VALUE>
private

Definition at line 63 of file NonlinearEquality.h.

Constructor & Destructor Documentation

◆ NonlinearEquality() [1/3]

template<class VALUE>
gtsam::NonlinearEquality< VALUE >::NonlinearEquality ( )
inline

Default constructor - only for serialization.

Definition at line 75 of file NonlinearEquality.h.

◆ ~NonlinearEquality()

template<class VALUE>
gtsam::NonlinearEquality< VALUE >::~NonlinearEquality ( )
inlineoverride

Definition at line 78 of file NonlinearEquality.h.

◆ NonlinearEquality() [2/3]

template<class VALUE>
gtsam::NonlinearEquality< VALUE >::NonlinearEquality ( Key  j,
const T feasible,
const CompareFunction _compare = std::bind(traits<T>::Equals,          std::placeholders::_1, std::placeholders::_2, 1e-9) 
)
inline

Constructor - forces exact evaluation

Definition at line 87 of file NonlinearEquality.h.

◆ NonlinearEquality() [3/3]

template<class VALUE>
gtsam::NonlinearEquality< VALUE >::NonlinearEquality ( Key  j,
const T feasible,
double  error_gain,
const CompareFunction _compare = std::bind(traits<T>::Equals,          std::placeholders::_1, std::placeholders::_2, 1e-9) 
)
inline

Constructor - allows inexact evaluation

Definition at line 98 of file NonlinearEquality.h.

Member Function Documentation

◆ clone()

template<class VALUE>
gtsam::NonlinearFactor::shared_ptr gtsam::NonlinearEquality< VALUE >::clone ( ) const
inlineoverridevirtual
Returns
a deep copy of this factor

Reimplemented from gtsam::NonlinearFactor.

Definition at line 172 of file NonlinearEquality.h.

◆ equals()

template<class VALUE>
bool gtsam::NonlinearEquality< VALUE >::equals ( const NonlinearFactor f,
double  tol = 1e-9 
) const
inlineoverridevirtual

Check if two factors are equal

Reimplemented from gtsam::NonlinearFactor.

Definition at line 120 of file NonlinearEquality.h.

◆ error()

template<class VALUE>
double gtsam::NonlinearEquality< VALUE >::error ( const Values c) const
inlineoverridevirtual

Actual error function calculation.

Reimplemented from gtsam::NonlinearFactor.

Definition at line 131 of file NonlinearEquality.h.

◆ evaluateError()

template<class VALUE>
Vector gtsam::NonlinearEquality< VALUE >::evaluateError ( const T xj,
OptionalMatrixType  H 
) const
inlineoverride

Error function.

Definition at line 142 of file NonlinearEquality.h.

◆ linearize()

template<class VALUE>
GaussianFactor::shared_ptr gtsam::NonlinearEquality< VALUE >::linearize ( const Values x) const
inlineoverridevirtual

Linearize is over-written, because base linearization tries to whiten.

Implements gtsam::NonlinearFactor.

Definition at line 162 of file NonlinearEquality.h.

◆ print()

template<class VALUE>
void gtsam::NonlinearEquality< VALUE >::print ( const std::string &  s = "",
const KeyFormatter formatter = DefaultKeyFormatter 
) const
inlineoverridevirtual

print

Reimplemented from gtsam::Factor.

Definition at line 110 of file NonlinearEquality.h.

Member Data Documentation

◆ allow_error_

template<class VALUE>
bool gtsam::NonlinearEquality< VALUE >::allow_error_
private

Definition at line 57 of file NonlinearEquality.h.

◆ compare_

template<class VALUE>
CompareFunction gtsam::NonlinearEquality< VALUE >::compare_

Definition at line 72 of file NonlinearEquality.h.

◆ error_gain_

template<class VALUE>
double gtsam::NonlinearEquality< VALUE >::error_gain_
private

Definition at line 60 of file NonlinearEquality.h.

◆ feasible_

template<class VALUE>
T gtsam::NonlinearEquality< VALUE >::feasible_
private

Definition at line 54 of file NonlinearEquality.h.


The documentation for this class was generated from the following file:


gtsam
Author(s):
autogenerated on Tue Jul 4 2023 02:47:05